In response to a stimulus, a soft material deforms, and the deformation provides a function. We call such a material a soft active material （SAM）. This review focuses on one class of soft active materials： dielectr...In response to a stimulus, a soft material deforms, and the deformation provides a function. We call such a material a soft active material （SAM）. This review focuses on one class of soft active materials： dielectric elastomers. When a membrane of a dielectric elastomer is subject to a voltage through its thickness, the membrane reduces thickness and expands area, possibly straining over 100%. The dielectric elastomers are being developed as transducers for broad applications, including soft robots, adaptive optics, Braille displays, and electric generators. This paper reviews the theory of dielectric elastomers, developed within continuum mechanics and thermodynamics, and motivated by molecular pictures and empirical observations. The theory couples large deformation and electric potential, and describes nonlinear and nonequilibrium behavior, such as electromechanical instability and viscoelasticity. The theory enables the finite element method to simulate transducers of realistic configurations, predicts the efficiency of electromechanical energy conversion, and suggests alternative routes to achieve giant voltage-induced deformation. It is hoped that the theory will aid in the creation of materials and devices.展开更多
The grid connection of a large-scale wind farm could change the load flow/configuration of a power system and introduce dynamic interactions with the synchronous generators(SGs),thus affecting system small-signal angu...The grid connection of a large-scale wind farm could change the load flow/configuration of a power system and introduce dynamic interactions with the synchronous generators(SGs),thus affecting system small-signal angular stability.This paper proposes an approach for the separate examination of the impact of those affecting factors,i.e.,the change of load flow/configuration and dynamic interactions brought about by the grid connection of the wind farm,on power system smallsignal angular stability.Both cases of grid connection of the wind farm,either displacing synchronous generators or being directly added into the power system,are considered.By using the proposed approach,how much the effect of the change of load flow/configuration brought about by the wind farm can be examined,while the degree of impact of the dynamic interaction of the wind farm with the SGs can be investigated separately.Thus,a clearer picture and better understanding of the power system small-signal angular stability as affected by grid connection of the large-scale wind farm can be achieved.An example of the power system with grid connection of a wind farm is presented to demonstrate the proposed approach.展开更多
The huge and rapid progress in electric drives offers new opportunities to improve the performances of aircraft at all levels：fuel burn,environmental footprint,safety,integration and production,serviceability,and mai...The huge and rapid progress in electric drives offers new opportunities to improve the performances of aircraft at all levels：fuel burn,environmental footprint,safety,integration and production,serviceability,and maintainability.Actuation for safety-critical applications like flight-controls,landing gears,and even engines is one of the major consumers of non-propulsive power.Conventional actuation with centralized hydraulic power generation and distribution and control of power by throttling has been well established for decades,but offers a limited potential of evolution.In this context,electric drives become more and more attractive to remove the natural drawbacks of conventional actuation and to offer new opportunities for improving performance.This paper takes the stock,at both the signal and power levels,of the evolution of actuation for safety-critical applications in aerospace.It focuses on the recent advances and the remaining challenges to be taken toward full electrical actuation for commercial and military aircraft,helicopters,and launchers.It logically starts by emphasizing the specificity of safety-critical actuation for aerospace.The following section addresses in details the evolution of aerospace actuation from mechanically-signaled and hydraulically-supplied to all electric,with special emphasis on research and development programs and on solutions entered into service.Finally,the last section reviews the challenges to be taken to generalize the use of all-electric actuators for future aircraft programs.展开更多
Compared with traditional hydraulic actuators, an Electro-Mechanical Actuator(EMA)is small in size and light in weight, so it has become more widely used. Aerodynamic load on aircraft control surface varies dramatical...Compared with traditional hydraulic actuators, an Electro-Mechanical Actuator(EMA)is small in size and light in weight, so it has become more widely used. Aerodynamic load on aircraft control surface varies dramatically, and a change of flight environment leads to uncertainties of motor parameters. Therefore, high-dynamic response and strong anti-disturbance capability of an EMA are of great significance for aircraft rudder control and flight attitude adjustment. In order to improve dynamic response and disturbance rejection of an EMA and simplify control parameters tuning, a robust high-dynamic servo system based on Linear Active Disturbance Rejection Control(LADRC) is proposed for an EMA employing a Permanent Magnet Synchronous Motor(PMSM).Firstly, total disturbances of the EMA are analyzed, including parameter uncertainties, load variation, and static friction. A disturbance observer based on a reduced-order Extended State Observer(ESO) is designed to improve the anti-interference ability and dynamic performance. Secondly, the servo control architecture is simplified to a double-loop system, and a composite control of position and speed with acceleration feed-forward is presented to improve the EMA frequency bandwidth.Thirdly, the ideal model of the EMA is transformed into a simple cascade integral form with a disturbance observer, which makes it convenient to analyze and design the controller. Robustness performance comparisons are realized in frequency domain. Finally, simulation and experimental results have verified the effectiveness of the proposed strategy for EMAs.展开更多
To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two diff...To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.展开更多
Schrodinger＇s thought experiment to prepare a cat in a superposition of both alive and dead states reveals profound consequences of quantum mechanics and has attracted enormous interests. Here we propose a straight- ...Schrodinger＇s thought experiment to prepare a cat in a superposition of both alive and dead states reveals profound consequences of quantum mechanics and has attracted enormous interests. Here we propose a straight- forward method to create quantum superposition states of a living microorganism by putting a small cryopreserved bacterium on top of an electromechanical oscillator. Our proposal is based on recent developments that the center- of-mass oscillation of a 15-pro-diameter aluminum mem- brane has been cooled to its quantum ground state （Teufel et al. in Nature 475：359, 2011）, and entangled with a microwave field （Palomaki et al. in Science 342：710, 2013）. A microorganism with a mass much smaller than the mass of the electromechanical membrane will not signifi- cantly affect the quality factor of the membrane and can be cooled to the quantum ground state together with themembrane. Quantum superposition and teleportation of its center-of-mass motion state can be realized with the help of superconducting microwave circuits. More importantly, the internal states of a microorganism, such as the electron spin of a glycine radical, can be entangled with its center-of- mass motion and teleported to a remote microorganism. Our proposal can be realized with state-of-the-art tech- nologies. The proposed setup is a quantum-limited mag- netic resonance force microscope. Since internal states of an organism contain information, our proposal also pro- vides a scheme for teleporting information or memories between two remote organisms.展开更多
Increased penetration of wind energy in the electric grid has necessitated studying the impact of wind integration on the transient stability of the power system,with urgency to develop appropriate electromechanical m...Increased penetration of wind energy in the electric grid has necessitated studying the impact of wind integration on the transient stability of the power system,with urgency to develop appropriate electromechanical models of the wind turbine generator(WTG).The representation and control of the WTG’s electric signals are typically in a rotational dq coordinate system whose reference angle is provided by a phase-lockedloop(PLL).The PLL is commonly considered as a measurement device and is often absent in existing WTG electromechanical models.This paper studies the impact of PLL on the DFIG-based WTG electromechanical response by theoretical and simulation analyses.The dynamics of the PLL are found to greatly influence the WTG electromechanical response,suggesting that PLL should be regarded as an indispensable control loop rather than a measurement device,and its impact should be modeled when establishing the WTG electromechanical model.展开更多
In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of...In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling,thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.展开更多
Estimating low-frequency oscillation modes and the corresponding mode shapes based on ambient data from WAMS measurements has a promising prospect in power system analysis and control.Based on the stochastic subspace ...Estimating low-frequency oscillation modes and the corresponding mode shapes based on ambient data from WAMS measurements has a promising prospect in power system analysis and control.Based on the stochastic subspace method,this paper proposes a revised stochastic subspace method by introducing reference channels,which can estimate the modes and the mode shapes simultaneously with great computational efficiency.Meanwhile,the accuracy of the estimated results is not degraded.To discriminate the real modes from the spurious ones,the stabilization diagram is introduced.A novel algorithm is designed to deal with the stabilization diagram which can detect the real modes automatically.Tests conducted on the IEEE-118 system indicate that the proposed method has good performance in terms of both computational efficiency and accuracy,and has the potential of being used on-line.展开更多
Electromechanical actuators（EMAs） are becoming increasingly attractive in the field of more electric aircraft because of their outstanding benefits, which include reduced fuel burn and maintenance cost, enhanced sys...Electromechanical actuators（EMAs） are becoming increasingly attractive in the field of more electric aircraft because of their outstanding benefits, which include reduced fuel burn and maintenance cost, enhanced system flexibility, and improved management of fault detection and isolation. However, electromechanical actuation raises specific issues when being used for safetycritical aerospace applications like flight controls： huge reflected inertia to load, jamming-type failure, and increase of backlash with service due to wear and local dissipation of heat losses for thermal balance. This study proposes an incremental approach for virtual prototyping of EMAs. It is driven by a model-based system engineering process in order to enable simulation-aided design.Best practices supported by Bond graph formalism are suggested to develop a model＇s structure efficiently and to make the model ready for use（or extension） by addressing the above mentioned issues. Physical effects are progressively introduced, and the realism of lumped-parameter models is increased step-by-step. In particular, multi-level component models are architected to ensure continuity between engineering activities. The models are implemented in the AMESim simulation environment, and simulation responses are given to illustrate how they can be used for preliminary sizing, control design, thermal balance verification, and faults to failure analysis. The proposed best practices intend to provide engineers with fast, reusable, and efficient means to assess performance virtually and enhance maturity, performance, and robustness.展开更多
In the flight process of aircrafts, their electromechanical actuators（EMA） must have the ability of enduring uncertainties caused by factors such as load disturbance, the variation of work temperature and the EMA＇s...In the flight process of aircrafts, their electromechanical actuators（EMA） must have the ability of enduring uncertainties caused by factors such as load disturbance, the variation of work temperature and the EMA＇s nonlinearity. At present, in order to increase the EMA＇s robustness on the uncertainties, the H, control method has been applied in aircrafts. The major problems with standard H∞ control lie in the large overshoot of step response and the high orders of the controller. For the purpose of addressing the two problems, this paper investigates several kinds of robust control strategies of the EMA. A mathematical model of the EMA is first built, and then with MATLAB software a H∞ controller and an improved hybrid robust controller composed of a reduced order H∞controller and a lead compensator are designed. In order to make a scientific comparison of the control effects of H∞ controller, hybrid controller and classic proportion-integral-differential（PID） controller, a simulation research is made in respect of the open loop frequency response and the closed loop step response of the three controllers. For comparing the robustness of the three controllers, the load torque is entered as a disturbance and the disturbance response of error and control input are thus obtained. The experiments with the three controllers are also conducted. Through giving the EMA a command and a disturbance torque successively, the transient response and disturbing process of EMA are recorded. The simulation and experiment results show that with the help of the hybrid controller, the EMA not only guarantees good dynamic characteristics, but also has strong robustness of disturbance rejection. Therefore, the excogitated H∞ hybrid control method effectively solves the problem of large overshoot in dynamic response, and moderately meets the requirement of overcoming the uncertainties in the EMA of aircrafts.展开更多
基金as a part of a research program on Soft Active Materials,supported at various times by NSF (CMMI-0800161, Large Deformation and Instability in Soft Active Materials)MURI (W911NF-04-1-0170, Design and Processing of Electret Structures+2 种基金 W911NF-09-1-0476, Innovative Design and Processing for Multi-Functional Adaptive Structural Materials)DARPA (W911NF-08-1-0143,ProgrammableMatterW911NF-10-1-0113, Cephalopod-Inspired Adaptive Photonic Systems)
文摘In response to a stimulus, a soft material deforms, and the deformation provides a function. We call such a material a soft active material （SAM）. This review focuses on one class of soft active materials： dielectric elastomers. When a membrane of a dielectric elastomer is subject to a voltage through its thickness, the membrane reduces thickness and expands area, possibly straining over 100%. The dielectric elastomers are being developed as transducers for broad applications, including soft robots, adaptive optics, Braille displays, and electric generators. This paper reviews the theory of dielectric elastomers, developed within continuum mechanics and thermodynamics, and motivated by molecular pictures and empirical observations. The theory couples large deformation and electric potential, and describes nonlinear and nonequilibrium behavior, such as electromechanical instability and viscoelasticity. The theory enables the finite element method to simulate transducers of realistic configurations, predicts the efficiency of electromechanical energy conversion, and suggests alternative routes to achieve giant voltage-induced deformation. It is hoped that the theory will aid in the creation of materials and devices.
基金supported by the National Basic Research Program of China (973 Program) (2012CB215204)the key project of the SKLAEPS and the international collaborative project jointly funded by the NSFC (51311122) Chinathe EPSRC,UK.
文摘The grid connection of a large-scale wind farm could change the load flow/configuration of a power system and introduce dynamic interactions with the synchronous generators(SGs),thus affecting system small-signal angular stability.This paper proposes an approach for the separate examination of the impact of those affecting factors,i.e.,the change of load flow/configuration and dynamic interactions brought about by the grid connection of the wind farm,on power system smallsignal angular stability.Both cases of grid connection of the wind farm,either displacing synchronous generators or being directly added into the power system,are considered.By using the proposed approach,how much the effect of the change of load flow/configuration brought about by the wind farm can be examined,while the degree of impact of the dynamic interaction of the wind farm with the SGs can be investigated separately.Thus,a clearer picture and better understanding of the power system small-signal angular stability as affected by grid connection of the large-scale wind farm can be achieved.An example of the power system with grid connection of a wind farm is presented to demonstrate the proposed approach.
文摘The huge and rapid progress in electric drives offers new opportunities to improve the performances of aircraft at all levels：fuel burn,environmental footprint,safety,integration and production,serviceability,and maintainability.Actuation for safety-critical applications like flight-controls,landing gears,and even engines is one of the major consumers of non-propulsive power.Conventional actuation with centralized hydraulic power generation and distribution and control of power by throttling has been well established for decades,but offers a limited potential of evolution.In this context,electric drives become more and more attractive to remove the natural drawbacks of conventional actuation and to offer new opportunities for improving performance.This paper takes the stock,at both the signal and power levels,of the evolution of actuation for safety-critical applications in aerospace.It focuses on the recent advances and the remaining challenges to be taken toward full electrical actuation for commercial and military aircraft,helicopters,and launchers.It logically starts by emphasizing the specificity of safety-critical actuation for aerospace.The following section addresses in details the evolution of aerospace actuation from mechanically-signaled and hydraulically-supplied to all electric,with special emphasis on research and development programs and on solutions entered into service.Finally,the last section reviews the challenges to be taken to generalize the use of all-electric actuators for future aircraft programs.
基金supported by the Shaanxi Provincial Key R&D Program, China (No. 2017KW-ZD-05)the Natural Science Basic Research Plan in Shaanxi Province of China (No. 2018JQ5187)the Fundamental Research Funds for the Central Universities,China(Nos.3102017JC06004, 3102017OQD029)
文摘Compared with traditional hydraulic actuators, an Electro-Mechanical Actuator(EMA)is small in size and light in weight, so it has become more widely used. Aerodynamic load on aircraft control surface varies dramatically, and a change of flight environment leads to uncertainties of motor parameters. Therefore, high-dynamic response and strong anti-disturbance capability of an EMA are of great significance for aircraft rudder control and flight attitude adjustment. In order to improve dynamic response and disturbance rejection of an EMA and simplify control parameters tuning, a robust high-dynamic servo system based on Linear Active Disturbance Rejection Control(LADRC) is proposed for an EMA employing a Permanent Magnet Synchronous Motor(PMSM).Firstly, total disturbances of the EMA are analyzed, including parameter uncertainties, load variation, and static friction. A disturbance observer based on a reduced-order Extended State Observer(ESO) is designed to improve the anti-interference ability and dynamic performance. Secondly, the servo control architecture is simplified to a double-loop system, and a composite control of position and speed with acceleration feed-forward is presented to improve the EMA frequency bandwidth.Thirdly, the ideal model of the EMA is transformed into a simple cascade integral form with a disturbance observer, which makes it convenient to analyze and design the controller. Robustness performance comparisons are realized in frequency domain. Finally, simulation and experimental results have verified the effectiveness of the proposed strategy for EMAs.
基金supported by the National Natural Science Foundation of China (60902055)
文摘To improve the reliability and accuracy of the global po- sitioning system （GPS）/micro electromechanical system （MEMS）- inertial navigation system （INS） integrated navigation system, this paper proposes two different methods. Based on wavelet threshold denoising and functional coefficient autoregressive （FAR） model- ing, a combined data processing method is presented for MEMS inertial sensor, and GPS attitude information is also introduced to improve the estimation accuracy of MEMS inertial sensor errors. Then the positioning accuracy during GPS signal short outage is enhanced. To improve the positioning accuracy when a GPS signal is blocked for long time and solve the problem of the tra- ditional adaptive neuro-fuzzy inference system （ANFIS） method with poor dynamic adaptation and large calculation amount, a self-constructive ANFIS （SCANFIS） combined with the extended Kalman filter （EKF） is proposed for MEMS-INS errors modeling and predicting. Experimental road test results validate the effi- ciency of the proposed methods.
基金the support from Purdue University and helpful discussions with G.Csathy,F.Robicheaux, C.Greene,and V.ShalaevZQY is funded by the National Basic Research Program of China (2011CBA00300 and 2011CBA00302)the National Natural Science Foundation of China (11105136, 11474177 and 61435007)
文摘Schrodinger＇s thought experiment to prepare a cat in a superposition of both alive and dead states reveals profound consequences of quantum mechanics and has attracted enormous interests. Here we propose a straight- forward method to create quantum superposition states of a living microorganism by putting a small cryopreserved bacterium on top of an electromechanical oscillator. Our proposal is based on recent developments that the center- of-mass oscillation of a 15-pro-diameter aluminum mem- brane has been cooled to its quantum ground state （Teufel et al. in Nature 475：359, 2011）, and entangled with a microwave field （Palomaki et al. in Science 342：710, 2013）. A microorganism with a mass much smaller than the mass of the electromechanical membrane will not signifi- cantly affect the quality factor of the membrane and can be cooled to the quantum ground state together with themembrane. Quantum superposition and teleportation of its center-of-mass motion state can be realized with the help of superconducting microwave circuits. More importantly, the internal states of a microorganism, such as the electron spin of a glycine radical, can be entangled with its center-of- mass motion and teleported to a remote microorganism. Our proposal can be realized with state-of-the-art tech- nologies. The proposed setup is a quantum-limited mag- netic resonance force microscope. Since internal states of an organism contain information, our proposal also pro- vides a scheme for teleporting information or memories between two remote organisms.
基金supported by Science and Technology Program of State Grid Corporation of China under Grant XT71-14-051.
文摘Increased penetration of wind energy in the electric grid has necessitated studying the impact of wind integration on the transient stability of the power system,with urgency to develop appropriate electromechanical models of the wind turbine generator(WTG).The representation and control of the WTG’s electric signals are typically in a rotational dq coordinate system whose reference angle is provided by a phase-lockedloop(PLL).The PLL is commonly considered as a measurement device and is often absent in existing WTG electromechanical models.This paper studies the impact of PLL on the DFIG-based WTG electromechanical response by theoretical and simulation analyses.The dynamics of the PLL are found to greatly influence the WTG electromechanical response,suggesting that PLL should be regarded as an indispensable control loop rather than a measurement device,and its impact should be modeled when establishing the WTG electromechanical model.
基金supported by the Aeronautical Science Foundation of China (No. 2012ZD51)the support of the China Scholarship Council (CSC)
文摘In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling,thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.
基金supported by the National Natural Science Foundation of China (Grant No. 51177079)the Program for Century Excellent Talents in University of China (Grant No. NCET-028-0317)
文摘Estimating low-frequency oscillation modes and the corresponding mode shapes based on ambient data from WAMS measurements has a promising prospect in power system analysis and control.Based on the stochastic subspace method,this paper proposes a revised stochastic subspace method by introducing reference channels,which can estimate the modes and the mode shapes simultaneously with great computational efficiency.Meanwhile,the accuracy of the estimated results is not degraded.To discriminate the real modes from the spurious ones,the stabilization diagram is introduced.A novel algorithm is designed to deal with the stabilization diagram which can detect the real modes automatically.Tests conducted on the IEEE-118 system indicate that the proposed method has good performance in terms of both computational efficiency and accuracy,and has the potential of being used on-line.
基金supports of the China Scholarship Council(CSC)the National Natural Science Foundation of China(No.51275021 and No.61327807)
文摘Electromechanical actuators（EMAs） are becoming increasingly attractive in the field of more electric aircraft because of their outstanding benefits, which include reduced fuel burn and maintenance cost, enhanced system flexibility, and improved management of fault detection and isolation. However, electromechanical actuation raises specific issues when being used for safetycritical aerospace applications like flight controls： huge reflected inertia to load, jamming-type failure, and increase of backlash with service due to wear and local dissipation of heat losses for thermal balance. This study proposes an incremental approach for virtual prototyping of EMAs. It is driven by a model-based system engineering process in order to enable simulation-aided design.Best practices supported by Bond graph formalism are suggested to develop a model＇s structure efficiently and to make the model ready for use（or extension） by addressing the above mentioned issues. Physical effects are progressively introduced, and the realism of lumped-parameter models is increased step-by-step. In particular, multi-level component models are architected to ensure continuity between engineering activities. The models are implemented in the AMESim simulation environment, and simulation responses are given to illustrate how they can be used for preliminary sizing, control design, thermal balance verification, and faults to failure analysis. The proposed best practices intend to provide engineers with fast, reusable, and efficient means to assess performance virtually and enhance maturity, performance, and robustness.
基金supported by National Astronautic Foundation of China
文摘In the flight process of aircrafts, their electromechanical actuators（EMA） must have the ability of enduring uncertainties caused by factors such as load disturbance, the variation of work temperature and the EMA＇s nonlinearity. At present, in order to increase the EMA＇s robustness on the uncertainties, the H, control method has been applied in aircrafts. The major problems with standard H∞ control lie in the large overshoot of step response and the high orders of the controller. For the purpose of addressing the two problems, this paper investigates several kinds of robust control strategies of the EMA. A mathematical model of the EMA is first built, and then with MATLAB software a H∞ controller and an improved hybrid robust controller composed of a reduced order H∞controller and a lead compensator are designed. In order to make a scientific comparison of the control effects of H∞ controller, hybrid controller and classic proportion-integral-differential（PID） controller, a simulation research is made in respect of the open loop frequency response and the closed loop step response of the three controllers. For comparing the robustness of the three controllers, the load torque is entered as a disturbance and the disturbance response of error and control input are thus obtained. The experiments with the three controllers are also conducted. Through giving the EMA a command and a disturbance torque successively, the transient response and disturbing process of EMA are recorded. The simulation and experiment results show that with the help of the hybrid controller, the EMA not only guarantees good dynamic characteristics, but also has strong robustness of disturbance rejection. Therefore, the excogitated H∞ hybrid control method effectively solves the problem of large overshoot in dynamic response, and moderately meets the requirement of overcoming the uncertainties in the EMA of aircrafts.
